Paul Lambert left Stoke City in May following their relegation from the Premier League.
Photograph: John Walton/PA

Paul Lambert has been appointed as the new manager of Ipswich Town, six years after he left East Anglia rivals Norwich.

Lambert succeeds Paul Hurst, who was sacked on Thursday with Ipswich bottom of the Championship table, and has signed a contract until the summer of 2021.

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Lambert has managed Norwich as well as Aston Villa, Blackburn and Wolves. The 49-year-old Scot took over at Stoke in the second half of last season, but he failed to keep the Potters in the Premier League.

“I can’t wait to get going and I’ll be using all my experience – and give everything I’ve got for Ipswich Town,” Lambert said. “I know about the history of the club, what a fantastic football club it is and I’m proud to be the manager here.

“Obviously it’s been a difficult start to the season but to get through this period we need to be pulling together as one – players, staff and supporters.”

Lambert’s most successful period of management was at Carrow Road where he took the Canaries into the Premier League in 2011 after back-to-back promotions, kept them in the top-flight and then left the club to take over at Aston Villa.

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The former Borussia Dortmund and Celtic midfielder will be in the stands at the Den on Saturday to watch his side take on Millwall with caretaker Bryan Klug in charge.

Mick McCarthy was dismissed in the summer after five years with the Tractor Boys despite four top-half finishes in the Championship, while last season’s four leading goalscorers Martyn Waghorn, Joe Garner, Bersant Celina and David McGoldrick all left the club.

Hurst’s appointment was made with the belief the former Shrewsbury coach would introduce a more modern and aesthetically-pleasing brand of football but Ipswich lie 24th in the second tier, with one win from 14 matches and only 11 goals scored.

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“I am delighted that Paul has agreed to become manager of Ipswich Town,” the owner Marcus Evans told the official club website. “He made it clear from our first conversation that he would relish the opportunity to come here.

“He is a very knowledgeable manager who has vast experience of the Championship, as well as working for a number of years in the Premier League.”